Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 205)

186

Part 4 Commands

INTELLIGENT ACTUATOR

 CIR (Move along circle)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional CIR

Passing

position 1

number

Passing

position 2

number

[Function] Move along a circle originating from the current position and passing the positions specified in

operands 1 and 2.

Therefore, reversing the settings of operands 1 and 2 will implement a circular movement in

the reverse direction.

The output will turn OFF at the start of circular movement, and turn ON when the movement

is complete.

Difference from CIR2:

CIR processing resembles moving along a polygon with a PATH command, while CIR2

actually performs arc interpolation.

Select an applicable command by considering the characteristics of each command.

(Normally CIR2 is used.)

(Note 1) If the division angle is set to “0” with a DEG command (division angle is calculated

automatically based on priority speed setting), the speed set in the data at passing position 1

or speed set by a VEL command will be used (former is given priority). The speed set in the

data at passing position 2 will have no meaning.

(Note 2) If the division angle is set to a value other than “0” with a DEG command (normal division

angle), the speed specified in the target position data will be used. (The speed set by a VEL

command will become valid if position data is not specified.)

In the case of circular movement, the axes will return from passing position 2 to the start

position at the speed declared by a VEL command. Therefore, a VEL command must always

be used with a CIR command.

(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,

followed by the value in “All-axis parameter No. 11, Default acceleration.”

The deceleration will become the same value as the valid acceleration selected above.

Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration

in the data at passing position 2 will not have any meaning.

(Note 4) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically

prior to axis 1 in accordance with the position data.)

(Note 5) If the interval between the position origin and passing position 1 or between passing position

1 and passing position 2 is small and the locus runs near a soft limit, “Error No. C73, “Target-

locus soft limit over” may occur. In this case, increase the interval between each pair of

positions as much as possible, set the locus slightly on the inside of the soft limit boundary, or

make other corrections.

[Example 1] VEL 100 Set the speed to 100 mm/sec.

CIR 100 101 Move along a circle from the current position by passing

positions 100 and 101 sequentially.

[Example 2] VEL 100 Set the speed to 100 mm/sec.

LET 1 5 Assign 5 to variable 1.

LET 2 6 Assign 6 to variable 2.

CIR *1 *2 Move along a circle from the current position by passing the

contents of variables 1 and 2 (positions 5 and 6)

sequentially.

1 2 ... 200 201 202 203 204 205 206 207 208 209 210 ... 435 436

Iai-america XSEL-KET Uživatelský manuál Strana 205

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Iai-america XSEL-KET Uživatelský manuál Strana 205

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